Ultrasonic scanning control method, device, equipment and storage medium

Abstract

The present invention belongs to the field of computer technology, and discloses an ultrasonic scanning control method, device, equipment and storage medium. The present invention obtains state prediction data and ultrasonic measurement data of an ultrasonic scanning device at the current moment; updates the state prediction data through ultrasonic measurement data to obtain actual state data; determines the scanning center point according to the actual state data, and determines the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length; determines the expected joint parameters according to the expected posture, and controls the movement of the ultrasonic scanning device according to the expected joint parameters. Since the state prediction data for predicting the position and posture of the ultrasonic scanning device is updated and calibrated according to the ultrasonic measurement data when controlling the movement of the ultrasonic scanning device, it is ensured that the scanning center point can be accurately obtained, thereby ensuring the accuracy of the expected posture, and fully considers the 3D information of the scanned organ during the movement process, avoiding deviations in autonomous movement during the scanning process.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to an ultrasonic scanning control method, device, equipment and storage medium. Background Art

[0002] At present, in the process of robot ultrasound-assisted scanning, the control method of ultrasound scanning relies on 2D ultrasound image visual servoing for navigation. However, 2D ultrasound images cannot provide 3D information of the scanned organs, resulting in the inability to accurately measure the scanned organs with 6 degrees of freedom in space, and it is easy to get stuck in the local structure of the scanned organs, resulting in deviations in the robot's autonomous movement.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide an ultrasonic scanning control method, device, equipment and storage medium, aiming to solve the technical problem that the control method of ultrasonic scanning in the prior art easily leads to deviations in autonomous motion.

[0005] To achieve the above object, the present invention provides an ultrasonic scanning control method, the method comprising the following steps:

[0006] Acquire state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment;

[0007] The state prediction data is updated by using the ultrasonic measurement data to obtain actual state data;

[0008] Determine a scanning center point according to the actual state data, and determine a desired posture according to the scanning center point, a desired scanning axis, and a preset forward step length;

[0009] Determine expected joint parameters according to the expected posture, and control the movement of the ultrasonic scanning device according to the expected joint parameters.

[0010] Optionally, the step of obtaining the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment includes:

[0011] Acquire the posture information and joint change amount of the ultrasonic scanning device at the previous moment, and acquire the ultrasonic slices collected by the ultrasonic scanning device at the current moment;

[0012] Determine the state prediction data at the current moment according to the posture information and the joint change amount;

[0013] Performing image segmentation on the ultrasound slice to obtain a region of interest;

[0014] The region of interest is feature-aligned with the ultrasound model of the diagnostic site to obtain ultrasound measurement data at the current moment.

[0015] Optionally, before the step of acquiring the posture information and joint change amount of the ultrasonic scanning device at the previous moment and acquiring the ultrasonic slice collected by the ultrasonic scanning device at the current moment, the method further includes:

[0016] Searching for a standard model of the organ to be scanned in a preset standard model library;

[0017] Sampling the standard model to obtain an ultrasound model of the diagnostic part;

[0018] Accordingly, after the step of performing image segmentation on the ultrasound slice to obtain the region of interest, the method further includes:

[0019] The diagnostic part ultrasound model is updated according to the image feature points in the region of interest.

[0020] Optionally, the step of determining the state prediction data at the current moment according to the posture information and the joint change amount includes:

[0021] Determine the position change amount according to the joint change amount by using a forward kinematics algorithm;

[0022] The state prediction data at the current moment is determined based on the posture information and the posture change.

[0023] Optionally, the step of determining the scanning center point according to the actual state data, and determining the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length includes:

[0024] Determine the probe position point and ultrasonic scanning plane of the ultrasonic scanning device at the current moment according to the actual state data;

[0025] Determining a desired scanning center and scanning direction according to the ultrasonic scanning plane, the desired scanning axis and the preset forward step length;

[0026] The desired posture is determined according to the probe position point, the desired scanning center and the scanning direction.

[0027] Optionally, the step of determining the desired scanning center and scanning direction according to the ultrasonic scanning plane, the desired scanning axis and the preset forward step length includes:

[0028] Determine the intersection point of the ultrasonic scanning plane and the desired scanning axis to obtain the scanning center point;

[0029] The axis direction of the desired scanning axis is used as the scanning direction, and the desired scanning center is determined according to the scanning center point, the scanning direction and the preset forward step length.

[0030] Optionally, the step of determining expected joint parameters according to the expected posture, and controlling the movement of the ultrasonic scanning device according to the expected joint parameters includes:

[0031] Determining desired joint parameters according to the desired posture by an inverse kinematics algorithm;

[0032] The desired joint parameters are input into a motion controller, so that the motion controller controls the ultrasonic scanning device to move to a desired position according to the desired joint parameters.

[0033] In addition, to achieve the above object, the present invention also proposes an ultrasonic scanning control device, which includes the following modules:

[0034] A data acquisition module, which acquires the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment;

[0035] A state updating module, used for updating the state prediction data through the ultrasonic measurement data to obtain actual state data;

[0036] A posture determination module, used to determine a scanning center point according to the actual state data, and to determine a desired posture according to the scanning center point, a desired scanning axis and a preset forward step length;

[0037] A movement control module is used to determine expected joint parameters according to the expected posture, and control the movement of the ultrasonic scanning device according to the expected joint parameters.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes an ultrasonic scanning control device, which includes: a processor, a memory, and an ultrasonic scanning control program stored in the memory and executable on the processor, and the ultrasonic scanning control program implements the steps of the ultrasonic scanning control method described above when executed by the processor.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a computer-readable storage medium, on which an ultrasonic scanning control program is stored, and when the ultrasonic scanning control program is executed, the steps of the ultrasonic scanning control method as described above are implemented.

[0040] The present invention obtains the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment; updates the state prediction data through the ultrasonic measurement data to obtain the actual state data; determines the scanning center point according to the actual state data, and determines the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length; determines the expected joint parameters according to the expected posture, and controls the movement of the ultrasonic scanning device according to the expected joint parameters. Since the state prediction data for predicting the position and posture of the ultrasonic scanning device is updated and calibrated according to the ultrasonic measurement data when controlling the movement of the ultrasonic scanning device, it is ensured that the scanning center point can be accurately obtained, thereby ensuring the accuracy of the expected posture, and fully considering the 3D information of the scanned organ during the movement process, avoiding the deviation of autonomous movement during the scanning process. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of an electronic device in a hardware operating environment involved in an embodiment of the present invention;

[0042] Figure 2 It is a flowchart of the first embodiment of the ultrasonic scanning control method of the present invention;

[0043] Figure 3 It is a flow chart of a second embodiment of the ultrasonic scanning control method of the present invention;

[0044] Figure 4 FIG. 4 is a structural block diagram of the first embodiment of the ultrasonic scanning control device of the present invention.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0047] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the structure of an ultrasonic scanning control device in the hardware operating environment involved in the embodiment of the present invention.

[0048] like Figure 1As shown, the electronic device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, WI-FI) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM), or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk storage. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0049] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0050] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and an ultrasound scanning control program.

[0051] exist Figure 1 In the electronic device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device of the present invention can be set in an ultrasonic scanning control device, and the electronic device calls the ultrasonic scanning control program stored in the memory 1005 through the processor 1001, and executes the ultrasonic scanning control method provided in an embodiment of the present invention.

[0052] The embodiment of the present invention provides an ultrasonic scanning control method, referring to Figure 2 , Figure 2 It is a flowchart diagram of a first embodiment of an ultrasonic scanning control method of the present invention.

[0053] In this embodiment, the ultrasonic scanning control method includes the following steps:

[0054] Step S10: Acquire the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment.

[0055] It should be noted that the executor of this embodiment may be the ultrasonic scanning control device, which may be a robot equipped with an ultrasonic scanning instrument. The robot may include a robotic arm, an ultrasonic scanning instrument and a control display terminal. The scanning probe of the ultrasonic scanning instrument may be installed at the end of the robotic arm, and the robotic arm guides the ultrasonic probe to perform ultrasonic scanning.

[0056] It should be noted that the ultrasonic scanning device may be composed of a mechanical arm and an ultrasonic scanning instrument, and the ultrasonic scanning instrument may be a device with an ultrasonic scanning function. The state prediction data at the current moment may be the posture data of the scanning probe of the ultrasonic scanning instrument at the current moment. The ultrasonic measurement data may be the measurement data collected by the ultrasonic scanning instrument at the current moment.

[0057] Step S20: updating the state prediction data through the ultrasonic measurement data to obtain actual state data.

[0058] It should be noted that the state prediction data is updated through the ultrasonic measurement data to obtain the actual state data, which can be updated through the ultrasonic measurement data using Kalman filtering. Kalman filtering has the characteristic of suppressing noise interference and making the robot posture transition smooth.

[0059] Step S30: determining a scanning center point according to the actual state data, and determining a desired posture according to the scanning center point, a desired scanning axis, and a preset forward step length.

[0060] It should be noted that the scanning center point may be the center point of the current ultrasonic scanning, the expected scanning axis may be a preset scanning trajectory axis, and the scanning probe of the ultrasonic scanning device will move along the expected scanning axis to perform ultrasonic scanning. The preset forward step length may be a preset step length for the scanning probe to move along the expected scanning axis.

[0061] Further, in order to accurately determine the desired posture, step S30 in this embodiment may include:

[0062] Determine the probe position point and ultrasonic scanning plane of the ultrasonic scanning device at the current moment according to the actual state data;

[0063] Determining a desired scanning center and scanning direction according to the ultrasonic scanning plane, the desired scanning axis and the preset forward step length;

[0064] The desired posture is determined according to the probe position point, the desired scanning center and the scanning direction.

[0065] It should be noted that the actual state data is the posture information of the scanning probe at the current moment, which includes the position and posture of the scanning probe. To determine the probe position point and the ultrasonic scanning plane of the ultrasonic scanning device at the current moment based on the actual state data, the actual state data can be analyzed to obtain the scanning probe position and the scanning probe posture, determine the probe position point according to the scanning probe position, and determine the ultrasonic scanning plane according to the scanning probe posture.

[0066] In actual use, in order to accurately determine the expected scanning center, determining the expected scanning center and scanning direction according to the ultrasonic scanning plane, the expected scanning axis and the preset forward step length can be performed by determining the intersection of the ultrasonic scanning plane and the expected scanning axis, and using the determined intersection as the scanning center point; using the axial direction of the expected scanning axis as the scanning direction, and determining the expected scanning center according to the scanning center point, the scanning direction and the preset forward step length, wherein determining the expected scanning center according to the scanning center point, the scanning direction and the preset forward step length can be performed by moving the scanning center point along the scanning direction by the preset forward step length, and using the position point obtained when the movement is completed as the expected scanning center.

[0067] In actual use, assume that the probe position point is P t , the expected scanning center is C t+1 , the scanning direction is According to the probe position point, the expected scanning center and the scanning direction, the expected posture can be determined by C t+1 As a starting point, If ray l is drawn in the direction, the expected position of the scanning probe at the next moment (t+1 moment) It is the intersection of ray l and the surface of the ultrasound model M of the diagnostic part. The expected posture is consistent with the direction of ray l. By aggregating the expected position and the expected posture, the expected posture can be obtained.

[0068] Step S40: Determine expected joint parameters according to the expected posture, and control the movement of the ultrasonic scanning device according to the expected joint parameters.

[0069] It should be noted that after determining the expected posture, the movement trajectory of the scanning probe can be determined in combination with the posture information of the current scanning probe, and the joint adjustment parameters of the robotic arm, that is, the expected joint parameters, can be determined based on the movement conclusion. Then, the robotic arm of the ultrasonic scanning device is controlled according to the expected joint parameters to drive the scanning probe to move, and subsequent scanning can continue.

[0070] Furthermore, in order to reduce the difficulty of movement, the implementation of step S40 in this embodiment may include:

[0071] Determining desired joint parameters according to the desired posture by an inverse kinematics algorithm;

[0072] The desired joint parameters are input into a motion controller, so that the motion controller controls the ultrasonic scanning device to move to a desired position according to the desired joint parameters.

[0073] It should be noted that the inverse kinematics algorithm may be an inverse kinematics algorithm for a robot arm, through which the motion trajectory of the robot arm can be calculated based on the current posture information of the robot arm and the desired posture, thereby obtaining the desired joint parameters, and then the desired key parameters are input into the mobile controller, and the mobile controller can control the scanning probe of the ultrasonic scanning device to move to the desired position for ultrasonic scanning according to the desired joint parameters. The mobile controller may be a proportional-integral-differential controller (PID controller), or other controllers that can achieve the same or similar functions, and this embodiment does not limit this.

[0074] This embodiment obtains the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment; updates the state prediction data through the ultrasonic measurement data to obtain the actual state data; determines the scanning center point according to the actual state data, and determines the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length; determines the expected joint parameters according to the expected posture, and controls the movement of the ultrasonic scanning device according to the expected joint parameters. Since the state prediction data for predicting the position and posture of the ultrasonic scanning device is updated and calibrated according to the ultrasonic measurement data when controlling the movement of the ultrasonic scanning device, it is ensured that the scanning center point can be accurately obtained, thereby ensuring the accuracy of the expected posture, and fully considering the 3D information of the scanned organ during the movement process, avoiding deviations in autonomous movement during the scanning process.

[0075] refer to Figure 3 , Figure 3 FIG. 4 is a flow chart of a second embodiment of an ultrasonic scanning control method of the present invention.

[0076] Based on the first embodiment, step S10 of the ultrasonic scanning control method of this embodiment includes:

[0077] Step S101: obtaining the posture information and joint change amount of the ultrasonic scanning device at the previous moment, and obtaining the ultrasonic slices collected by the ultrasonic scanning device at the current moment.

[0078] It should be noted that the posture information may include the position and posture of the scanning probe, and the joint change amount may be a joint change parameter input into the mobile controller of the robot at the previous moment. Determining the state prediction data at the current moment based on the posture information and the joint change amount may be to predict the position and posture at the current moment based on the joint change amount and the posture information to obtain the state prediction data. The ultrasonic slice may be an ultrasonic image slice collected by an ultrasonic scanning device.

[0079] In actual use, the preset duration can be used as a time period, and the previous moment is the time period before the time period corresponding to the current moment. For example, the preset duration is set to 1S. Assuming the current moment is 9:01:58, the previous moment is 9:01:57.

[0080] Step S102: Determine the state prediction data at the current moment according to the posture information and the joint change amount.

[0081] In actual use, in order to accurately obtain the state prediction data, the state prediction data at the current moment can be determined according to the posture information and the joint change amount by using a forward kinematics algorithm to determine the posture change amount according to the joint change amount; the state prediction data at the current moment can be determined according to the posture information and the posture change amount. For example: Assume that the posture information X of the scanning probe at the previous moment (time t-1) is t-1 =(xyz α β γ) T ; where x, y, z represent the position of the scanning probe, and α, β, γ represent the posture of the scanning probe. The change in the robot joint is △θ, and the change in the position and posture is determined to be △X based on the joint change through the forward kinematics algorithm. Then the state prediction data

[0082] Step S103: performing image segmentation on the ultrasound slice to obtain a region of interest;

[0083] It should be noted that the image cutting of the ultrasound slices to obtain the region of interest can be performed by performing image segmentation on the ultrasound slices through a preset image segmentation model to obtain the region of interest, wherein the preset image segmentation model can be a pre-trained U-Net learning model or other similar models.

[0084] Step S104: performing feature registration on the region of interest and the ultrasound model of the diagnosis site to obtain ultrasound measurement data at the current moment.

[0085] It should be noted that the diagnostic part ultrasound model may be a pre-established ultrasound 3D model of the organ to be scanned, and the organ to be scanned may be pre-set by a manager of the ultrasound scanning control device.

[0086] In actual use, the region of interest is feature registered with the ultrasound model of the diagnostic site to obtain the ultrasound measurement data at the current moment by minimizing an objective function, wherein the objective function may be:

[0087]

[0088] In the formula, Z tis the ultrasound measurement data, μ is the similarity measure, ω is the robustness factor; p is the point in the region of interest, q is the point in the ultrasound model M of the diagnostic site, and T is the 4x4 pose transformation matrix.

[0089] Furthermore, since registering the ultrasound slice with the ultrasound model of the diagnostic part is a key step in calculating the scanning posture, in order to cope with the shortage of initial quantity, it is necessary to use the standard model of the organ for calculation. Therefore, before step S101 in this embodiment, the following may also be included:

[0090] Searching for a standard model of the organ to be scanned in a preset standard model library; sampling the standard model to obtain an ultrasound model of the diagnostic part;

[0091] It should be noted that the preset standard model library may be a pre-established database containing standard models of various organs. The organ to be scanned may be an organ that currently needs to be scanned, and searching the preset standard model library for the standard model of the organ to be scanned may be searching the preset standard model library for the standard model corresponding to the organ to be scanned according to the name of the organ to be scanned or the organ identifier.

[0092] It is understandable that after obtaining the standard model of the organ to be scanned, contour sampling can be performed on the standard model, and an ultrasound model of the diagnostic part can be constructed based on the sampling result.

[0093] Furthermore, since there are differences between the standard organ model and the actual scanned organ, it is necessary to update the model in real time during the scanning process. Therefore, after step S103, the following may also be included:

[0094] The diagnostic part ultrasound model is updated according to the image feature points in the region of interest.

[0095] It should be noted that, in order to facilitate model updating, after sampling the standard model, when obtaining the initial diagnostic part ultrasound model, the model ultrasound grayscale image and model confidence map of the model can be initialized, for example: the values ​​of the ultrasound grayscale image I0 and the model confidence map C0 are all set to 0. Then the region of interest of the ultrasound slice is fused with the current diagnostic part ultrasound model.

[0096] In actual use, fusing the region of interest of the ultrasound slice with the current ultrasound model of the diagnostic part can be to register the region of interest of the ultrasound slice with the ultrasound model of the diagnostic part, obtain the position of the ultrasound slice relative to the ultrasound model of the diagnostic part, calculate each image feature point P in the region of interest of the ultrasound slice and the neighborhood point set Q in the registered model as the point to be updated, and the neighborhood point set Q can be expressed as:

[0097] Q={q|q∈M t,||q-Tp||<r}

[0098] Then calculate the confidence of the information of point P at point q, and the calculation formula can be

[0099]

[0100] And update the ultrasonic grayscale and confidence of point q:

[0101]

[0102] C t+1 (q) = min(1.0, c + C t (q))

[0103] Among them, Q is the neighborhood point set, Mt is the diagnostic part ultrasound model at the current moment, q is the point in the diagnostic part ultrasound model, q is the image feature point in the region of interest, T is the position of the ultrasound slice relative to the diagnostic part ultrasound model, and r is the pre-set neighborhood radius.

[0104] Repeat the above steps until all points in the neighborhood point set Q are updated, that is, the fusion of the region of interest of the ultrasound slice with the current diagnostic part ultrasound model is completed. Then, the next frame of ultrasound slice can be acquired and fused with the diagnostic part ultrasound model.

[0105] It is understandable that after continuous fusion, in the final scanning stage, all points in the ultrasound model of the diagnostic part whose confidence is lower than the preset confidence threshold can be used to obtain the ultrasound reconstruction model of the counterweight. The preset confidence threshold can be set by the manager of the ultrasound scanning control device according to actual needs.

[0106] This embodiment obtains the posture information and joint change amount of the ultrasonic scanning device at the previous moment, and obtains the ultrasonic slice collected by the ultrasonic scanning device at the current moment; determines the state prediction data at the current moment according to the posture information and the joint change amount; performs image segmentation on the ultrasonic slice to obtain the region of interest; performs feature registration of the region of interest with the ultrasonic model of the diagnostic part to obtain the ultrasonic measurement data at the current moment. Since the posture information and joint change amount of the ultrasonic scanning device at the previous moment are obtained when determining the state prediction data of the ultrasonic scanning device, the posture change amount is determined according to the joint change amount through the forward kinematics algorithm, and the state prediction data of the ultrasonic scanning device at the current moment is predicted according to the posture information and the posture change amount, the prediction accuracy is further improved. And then, the region of interest in the ultrasonic slice is also feature registered with the ultrasonic model of the diagnostic part, and the ultrasonic measurement data is determined according to the registration result, which improves the accuracy of the ultrasonic measurement data.

[0107] In addition, an embodiment of the present invention further provides a storage medium, on which an ultrasonic scanning control program is stored. When the ultrasonic scanning control program is executed by a processor, the steps of the ultrasonic scanning control method described above are implemented.

[0108] Reference Figure 4 , Figure 4 It is a structural block diagram of the first embodiment of the ultrasonic scanning control device of the present invention.

[0109] like Figure 4 As shown, the ultrasonic scanning control device proposed in the embodiment of the present invention includes:

[0110] A data acquisition module 10 is used to acquire state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment;

[0111] A state updating module 20, configured to update the state prediction data through the ultrasonic measurement data to obtain actual state data;

[0112] A posture determination module 30, used to determine a scanning center point according to the actual state data, and to determine a desired posture according to the scanning center point, a desired scanning axis and a preset forward step length;

[0113] The movement control module 40 is used to determine the expected joint parameters according to the expected posture, and control the movement of the ultrasonic scanning device according to the expected joint parameters.

[0114] This embodiment obtains the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment; updates the state prediction data through the ultrasonic measurement data to obtain the actual state data; determines the scanning center point according to the actual state data, and determines the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length; determines the expected joint parameters according to the expected posture, and controls the movement of the ultrasonic scanning device according to the expected joint parameters. Since the state prediction data for predicting the position and posture of the ultrasonic scanning device is updated and calibrated according to the ultrasonic measurement data when controlling the movement of the ultrasonic scanning device, it is ensured that the scanning center point can be accurately obtained, thereby ensuring the accuracy of the expected posture, and fully considering the 3D information of the scanned organ during the movement process, avoiding deviations in autonomous movement during the scanning process.

[0115] Furthermore, the data acquisition module 10 is also used to obtain the posture information and joint change amount of the ultrasonic scanning device at the previous moment, and obtain the ultrasonic slices collected by the ultrasonic scanning device at the current moment; determine the state prediction data at the current moment based on the posture information and the joint change amount; perform image segmentation on the ultrasonic slices to obtain the region of interest; perform feature alignment on the region of interest and the ultrasonic model of the diagnostic part to obtain the ultrasonic measurement data at the current moment.

[0116] Furthermore, the data acquisition module 10 is also used to search for a standard model of the organ to be scanned in a preset standard model library; sample the standard model to obtain an ultrasound model of the diagnostic part;

[0117] The data acquisition module 10 is further used to update the diagnostic part ultrasound model according to the image feature points in the region of interest.

[0118] Furthermore, the state updating module 20 is also used to determine the posture change amount according to the joint change amount through a forward kinematics algorithm; and determine the state prediction data at the current moment according to the posture information and the posture change amount.

[0119] Furthermore, the posture determination module 30 is also used to determine the probe position point and ultrasonic scanning plane of the ultrasonic scanning device at the current moment according to the actual state data; determine the expected scanning center and scanning direction according to the ultrasonic scanning plane, the expected scanning axis and the preset forward step length; determine the expected posture according to the probe position point, the expected scanning center and the scanning direction.

[0120] Furthermore, the posture determination module 30 is also used to determine the intersection of the ultrasonic scanning plane and the expected scanning axis to obtain the scanning center point; the axial direction of the expected scanning axis is used as the scanning direction, and the expected scanning center is determined according to the scanning center point, the scanning direction and the preset forward step length.

[0121] Furthermore, the mobile control module 40 is also used to determine the expected joint parameters according to the expected posture through an inverse kinematic algorithm; and input the expected joint parameters into the mobile controller so that the mobile controller controls the ultrasonic scanning device to move to the expected position according to the expected joint parameters.

[0122] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0123] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0124] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the ultrasonic scanning control method provided in any embodiment of the present invention, and will not be repeated here.

[0125] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0126] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0127] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0128] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An ultrasonic scanning control method, characterized in that: The ultrasonic scanning control method comprises the following steps: Acquire state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment; The state prediction data is updated by using the ultrasonic measurement data to obtain actual state data; Determine a scanning center point according to the actual state data, and determine a desired posture according to the scanning center point, a desired scanning axis, and a preset forward step length; Determining expected joint parameters according to the expected posture, and controlling the movement of the ultrasonic scanning device according to the expected joint parameters; The step of obtaining the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment includes: Acquire the position information and joint change amount of the ultrasonic scanning device at the previous moment, and acquire the ultrasonic slices collected by the ultrasonic scanning device at the current moment; Determine the state prediction data at the current moment according to the posture information and the joint change amount; Performing image segmentation on the ultrasound slice to obtain a region of interest; The region of interest is feature-aligned with the ultrasound model of the diagnostic site to obtain ultrasound measurement data at the current moment.

2. The ultrasonic scanning control method according to claim 1, characterized in that: Before the step of obtaining the posture information and joint change amount of the ultrasonic scanning device at the previous moment and obtaining the ultrasonic slice collected by the ultrasonic scanning device at the current moment, the method further includes: Searching for a standard model of the organ to be scanned in a preset standard model library; Sampling the standard model to obtain an ultrasound model of the diagnostic part; Accordingly, after the step of performing image segmentation on the ultrasound slice to obtain the region of interest, the method further includes: The diagnostic part ultrasound model is updated according to the image feature points in the region of interest.

3. The ultrasonic scanning control method according to claim 1, characterized in that: The step of determining the state prediction data at the current moment according to the posture information and the joint change amount comprises: Determine the position change amount according to the joint change amount by using a forward kinematics algorithm; The state prediction data at the current moment is determined based on the posture information and the posture change.

4. The ultrasonic scanning control method according to claim 1, characterized in that: The step of determining the scanning center point according to the actual state data, and determining the expected posture according to the scanning center point, the expected scanning axis and the preset forward step length includes: Determine the probe position point and ultrasonic scanning plane of the ultrasonic scanning device at the current moment according to the actual state data; Determining a desired scanning center and scanning direction according to the ultrasonic scanning plane, the desired scanning axis and the preset forward step length; The desired posture is determined according to the probe position point, the desired scanning center and the scanning direction.

5. The ultrasonic scanning control method according to claim 4, characterized in that: The step of determining the desired scanning center and scanning direction according to the ultrasonic scanning plane, the desired scanning axis and the preset forward step length comprises: Determine the intersection point of the ultrasonic scanning plane and the desired scanning axis to obtain the scanning center point; The axis direction of the desired scanning axis is used as the scanning direction, and the desired scanning center is determined according to the scanning center point, the scanning direction and the preset forward step length.

6. The ultrasonic scanning control method according to any one of claims 1 to 5, characterized in that: The step of determining the expected joint parameters according to the expected posture, and controlling the movement of the ultrasonic scanning device according to the expected joint parameters, comprises: Determining desired joint parameters according to the desired posture by an inverse kinematics algorithm; The desired joint parameters are input into a motion controller, so that the motion controller controls the ultrasonic scanning device to move to a desired position according to the desired joint parameters.

7. An ultrasonic scanning control device, characterized in that: The ultrasonic scanning control device comprises the following modules: A data acquisition module, which acquires the state prediction data and ultrasonic measurement data of the ultrasonic scanning device at the current moment; A state updating module, used for updating the state prediction data through the ultrasonic measurement data to obtain actual state data; A posture determination module, used to determine a scanning center point according to the actual state data, and to determine a desired posture according to the scanning center point, a desired scanning axis and a preset forward step length; A movement control module, used to determine expected joint parameters according to the expected posture, and control the movement of the ultrasonic scanning device according to the expected joint parameters; The data acquisition module is also used to obtain the posture information and joint change amount of the ultrasonic scanning device at the previous moment, and obtain the ultrasonic slices collected by the ultrasonic scanning device at the current moment; determine the state prediction data at the current moment according to the posture information and the joint change amount; perform image segmentation on the ultrasonic slices to obtain the region of interest; perform feature alignment on the region of interest and the ultrasonic model of the diagnostic part to obtain the ultrasonic measurement data at the current moment.

8. An ultrasonic scanning control device, characterized in that: The ultrasonic scanning control device comprises: a processor, a memory, and an ultrasonic scanning control program stored in the memory and executable on the processor. When the ultrasonic scanning control program is executed by the processor, the steps of the ultrasonic scanning control method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an ultrasonic scanning control program, and when the ultrasonic scanning control program is executed, the steps of the ultrasonic scanning control method according to any one of claims 1 to 6 are implemented.

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